CN115847476A - Compact cooperative robot wrist - Google Patents
Compact cooperative robot wrist Download PDFInfo
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- CN115847476A CN115847476A CN202310166728.0A CN202310166728A CN115847476A CN 115847476 A CN115847476 A CN 115847476A CN 202310166728 A CN202310166728 A CN 202310166728A CN 115847476 A CN115847476 A CN 115847476A
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 93
- 238000004891 communication Methods 0.000 claims description 19
- 239000011324 bead Substances 0.000 claims description 2
- 238000012546 transfer Methods 0.000 abstract description 10
- 238000013461 design Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000007789 sealing Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 2
- 201000009310 astigmatism Diseases 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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Abstract
The invention discloses a compact cooperative robot wrist, and relates to a wrist structure of a manipulator. The compact cooperative robot wrist can achieve the functions of dragging, light indication and the like, can meet the arrangement of three interface cables, and particularly can directly walk a network cable inside. The compact cooperative robot wrist comprises a wrist structural member, a servo joint is arranged in the wrist structural member, a hollow shaft is arranged on the servo joint, a terminal circuit board and a line pressing plate are arranged above the servo joint, a transfer flange is arranged below the servo joint, a terminal floating line binding plate is arranged in the transfer flange, a rubber ring is arranged on the terminal floating line binding plate, the rubber ring is opposite to the hollow shaft, a terminal flange is arranged below the transfer flange, a network cable interface component, an IO interface component and a dragging button interface component are arranged on the side surface of the terminal flange, and interfaces of the three components are of a split structure.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a compact cooperative robot wrist.
Background
The cooperative robot is generally used for occasions with compact requirements on deployment space size, high flexibility of use conditions and frequent interaction with human beings, and is often found in the scenes of emerging flexible industrial, medical and commercial applications. Therefore, the wrist of the cooperative robot has the following characteristics and requirements on the design of the body:
(1) Designing a plurality of interfaces at the tail end: in the working process of the robot, the tail end needs to be connected with a tail end execution mechanism, and the interface of the tail end can provide functions of communication, power supply and the like for the tail end execution mechanism to the second level.
(2) Integrate drag enable button: in order to meet the functional requirement of frequent interaction with human beings and improve the convenience degree of using the robot by a user, corresponding enabling keys need to be provided for the user to transmit corresponding instructions to the robot, and the frequency of using the traditional demonstrator with a threshold to program and control the robot by the user is reduced.
(3) The wrist design is compact: in order to improve the operation and accessibility of the tail end of the cooperative mechanical arm in a compact and narrow space, the design of the wrist needs to follow the compaction principle.
The design difficulty of the compact wrist of the corresponding cooperative mechanical arm is derived based on the design requirements:
(1) How to place various components such as joints, cables, drivers and the like in a narrow wrist body space, and simultaneously reduce the radial and axial sizes of the tail end of the robot as much as possible.
(2) While the size is limited, a richer interface type is provided, meeting most of the requirements of the robot.
Aiming at the wrist design mode of the common collaboration robot in the market, the following defects still exist:
(1) The corresponding wrist design size is not compact enough, and is not favorable for the tail end of the cooperative mechanical arm to enter a narrow space for operation.
(2) Some cables, such as network cables, still adopt an external wiring mode, which is not beautiful on the one hand and affects the activity space of the robot and the service life of the cables on the other hand.
Disclosure of Invention
The invention provides a compact tail end wrist of a cooperative robot, which can realize functions of dragging, light indication and the like, can simultaneously meet the arrangement of three interface cables, particularly can directly walk network cables inside, and solves the defect that most of robot network cables are externally hung in the market.
The compact type cooperative robot wrist comprises a wrist structural member, wherein a servo joint is arranged in the wrist structural member, a hollow shaft is arranged on the servo joint, a terminal circuit board and a line pressing plate are arranged above the servo joint, a transfer flange is arranged below the servo joint, a terminal floating line binding plate is arranged in the transfer flange, a rubber ring is arranged on the terminal floating line binding plate, the rubber ring is opposite to the hollow shaft, a terminal flange is arranged below the transfer flange, a network cable interface component, an IO interface component and a dragging button interface component are arranged on the side surface of the terminal flange, and interfaces of the three components are of a split structure.
The compact type collaboration robot wrist comprises a wrist structural part and a wrist structure, wherein the wrist structural part comprises a wire inlet port, and a wire inlet binding plate is arranged in the wire inlet port.
The compact cooperative robot wrist further comprises a rear cover support, the rear cover support comprises a step structure, the lower layer of the step structure is connected with the wrist structural member, the upper layer of the step structure is connected with the rear cover, and the rear cover supports are distributed on the periphery inside the wrist structural member.
The compact type collaboration robot wrist is characterized in that the step upper layer of the rear cover support is connected with an adapter plate, and the rear cover is fixed above the adapter plate.
The compact collaborative robot wrist of the present invention wherein the end circuit board connects the IO interface component and the drag button interface component through an electrical communication cable.
The compact type collaboration robot wrist is characterized in that the back cover is provided with a light-dispersing ring, and the tail end circuit board is provided with a lamp bead at a position close to the light-dispersing ring.
The compact cooperative robot wrist comprises a network cable interface mounting plate and a network cable interface, wherein the network cable interface assembly comprises a network cable interface mounting plate and a network cable interface, the network cable interface is connected with the network cable interface mounting plate, and the network cable interface mounting plate is connected with a transfer flange.
The compact cooperative robot wrist comprises an IO interface mounting plate and an IO interface, wherein the IO interface is connected with the IO interface mounting plate, and the IO interface mounting plate is connected with a transfer flange.
The invention relates to a compact cooperative robot wrist, wherein a dragging button assembly comprises a button mounting plate and a button, a button interface is connected with the button mounting plate, and a network cable interface mounting plate is connected with a transfer flange.
The compact cooperative robot wrist is different from the prior art in that three functional components capable of interchanging positions are arranged at the tail end of the wrist, and the interface adopts a split design, so that the interface is convenient to install and maintain. A hollow shaft is arranged on a servo joint inside the wrist, and therefore the network cable can be conveniently installed and wired inside the wrist. The wrist is compact in internal structure, and can meet the requirement of regular arrangement of a plurality of cables in the wrist by matching with a plurality of binding wire plates and wire pressing plates which are arranged up and down, so that the overall size of the wrist structure is reduced.
The compact cooperative robot wrist of the present invention will be further described with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of a compact cooperative robot wrist according to the present invention;
FIG. 2 is a left side view of a compact collaborative robot wrist of the present invention;
FIG. 3 is a rear view of the compact form of the co-operating robot wrist of the present invention;
FIG. 4 isbase:Sub>A sectional view taken along line A-A of FIG. 3;
FIG. 5 is a schematic diagram of the internal structure of the compact cooperative robot wrist of the present invention;
FIG. 6 is a schematic structural view of a back cover support in a wrist of the compact collaborative robot according to the present invention;
FIG. 7 is a front view of a compact form of a co-operating robot wrist of the present invention;
FIG. 8 is a sectional view taken along line B-B of FIG. 7;
the notation in the figures means: 1-a wrist structure; 2-a scattered light ring; 3-rear cover; 4-IO interface components; 41-IO interface; 42-IO interface mounting plate; 5-drag button interface component; 51-a button; 52-button mounting plate; 6-end flange; 7-a transfer flange; 8-a network cable interface component; 81-network cable interface; 82-network cable interface mounting plate; 9-wire inlet wire binding plate; 10-a servo joint; 11-a hollow shaft; 12-a terminal wire fixing plate; 13-end circuit board; 14-an adapter plate; 15-a line pressing plate; 16-rear cover support; 161-step upper layer; 162-step lower layer; 17-end floating wiring board.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1, the compact cooperative robot wrist of the present invention includes a main body structure composed of a wrist structural member 1 and a back cover 3, and the back cover 3 is fixedly connected to the wrist structural member 1. The upper part of the rear cover 3 is provided with a light-dispersing ring 2. One side of the wrist structural part 1 is provided with an incoming line port; adapter flange 7 is installed to the below of wrist structure 1, is provided with net twine interface module 8, IO interface module 4 and drags button interface module 5 on adapter flange 7, and end flange 6 is installed to adapter flange 7 below.
A servo joint 10 is fixedly installed inside the wrist structural part 1 through bolts, a driver is arranged inside the servo joint 10, and an electric communication cable is arranged inside the driver. The electric communication cables of the drive are connected in two directions, respectively, one direction is to connect the communication cable from the previous joint entering through the inlet port, and the other direction is to connect the end circuit board 13. A tail end wire fixing plate 12 is fixedly arranged above the servo joint 10.
As shown in fig. 2, an incoming line binding plate 9 is arranged inside the incoming line port, and the incoming line binding plate 9 is fixedly connected with the wrist structural member 1 through screws. As shown in fig. 4, two tension plates 15 are fixed inside the wrist structural member 1 by screws. The communication cable entering the wrist structural member 1 from the previous joint passes through the incoming line wiring board 9 and then is divided into two paths, and the two paths are respectively fixed on the wrist structural member 1 by two wiring boards 15, then bypass the servo joint 10 in two paths and are connected with a driver part inside the servo joint 10. Through the fixation of the incoming line wiring board 9 and the two wiring boards 15, the space utilization rate inside the wrist can be improved, and meanwhile, the stability of the communication cable in the wrist movement process can be ensured.
As shown in fig. 4 and 5, a back cover bracket 16 is fixedly mounted inside the wrist structural member 1 by screws, and as shown in fig. 6, a step structure is provided on the back cover bracket 16. The step lower layer 162 of the back cover support 16 is fixedly connected with the wrist structural member 1, the step upper layer 161 is fixedly connected with the adapter plate 14 through four copper studs and screws, and the back cover 3 is fixedly connected with the adapter plate 14 through screws.
A plurality of rear cover supports 16 are distributed around the interior of the wrist structure 1, and a step upper layer 161 is located within a step lower layer 162 and is capable of providing support for the rear cover 3 around the servo joint 10. This structure can compress the inner space of the wrist while giving a stable connection of the rear cover 3. The rear cover 3 is provided with a light-dispersing ring 2 by glue or other adhesives.
And the tail end circuit board 13 is arranged above the adapter plate 14 through copper studs and screws. The end circuit board 13 is internally provided with an electric communication cable which is respectively connected with two directions, wherein one direction is a cable which is connected with a driver inside the servo joint 10 through the end wire fixing plate 12 and is transmitted, and the other direction is a cable which is connected with the IO interface component 4 and the dragging button interface component 5 at the tail end of the wrist after passing through the hollow shaft 11 inside the servo joint 10. The lamp pearl has been arranged near the position of astigmatism ring 2 to terminal circuit board 13, and astigmatism ring 2 is translucent material, can distribute away terminal circuit board 13's light, can show wrist or the holistic running state of robot through the light state of difference.
The lower part of the wrist structural member 1 is provided with a switching flange 7 through a screw, a tail end floating wiring board 17 is arranged inside the switching flange 7, and a rubber ring is arranged on the tail end floating wiring board 17. The rubber ring is opposite to the hollow shaft 11 inside the servo joint 10.
The adapter flange 7 is fixedly connected with the tail end flange 6 through screws, the tail end flange 6 is the tail end of the wrist, as shown in fig. 7 and 8, the side face of the tail end flange 6 is provided with a network cable interface component 8, an IO interface component 4 and a dragging button interface component 5, and the positions of the three components can be interchanged and adjusted according to needs.
The network cable interface assembly 8 includes a network cable interface mounting plate 82, a network cable interface 81 and a seal ring. The communication cable connected with the network cable interface 81 sequentially passes through the hole position in the adapter flange 7, the rubber ring in the tail end floating wire binding plate 17 and the hollow shaft 11 in the servo joint 10. The communication cable connected with the network cable interface 81 can be fixed on the tail end floating wiring board by a ribbon or the like. After the communication cable of the network cable interface 81 passes through the servo joint 10, the communication cable is fixed on the wrist structural part 1 by the line pressing plate 15, and the subsequent cable is communicated with the previous joint of the robot after passing through the incoming line wiring plate 9, so that the function of routing inside the network cable of the robot is realized.
In the network cable interface component 8, the network cable interface 81 is directly connected with the network cable interface mounting plate 82, the network cable interface mounting plate 82 is mounted with the adapter flange 7 through screws, a sealing ring is mounted between the network cable interface mounting plate 82 and the adapter flange 7, and a sealing effect is achieved after the locking through the screws. In the later maintenance upgrading process, when interface position or form need change, can directly change net twine interface mounting panel 82 can, need not carry out redesign to adaptor flange 7 to reduce the cost of later maintenance upgrading, make things convenient for the installation of multiple interface.
In IO interface module 4, IO interface 41 directly is connected with IO interface mounting panel 42, and IO interface mounting panel 42 passes through the mounting screw with adapter flange 7, installs the sealing washer between IO interface mounting panel 42 and the adapter flange 7, reaches sealed effect after locking through the screw. In the later maintenance upgrading process, when interface position or form need change, can directly change IO interface mounting panel 42 can, need not carry out redesign to adaptor flange 7 to reduce the cost of later maintenance upgrading, make things convenient for the installation of multiple interface.
The drag button assembly includes a button mounting plate 52, a button 51 and a gasket. The robot dragging teaching device has the advantages that the robot dragging teaching and other functions can be achieved through the dragging button assembly, and the button assembly is more beneficial to the operation of the robot by the right hand of people. The communication cable connected with the button mounting plate 52 passes through the hole position in the adapter flange 7, the rubber ring in the end floating wiring board 17 and the hollow shaft 11 inside the servo joint 10 in sequence. The communication cable connected with the interface of the button 51 can be fixed on the terminal floating wiring board by a ribbon or the like. The communication cable passes through the servo joint 10 and is connected with the terminal circuit board 13, so that information is transmitted to other parts of the robot through the terminal circuit board 13.
In the dragging button assembly, the interface of the button 51 is directly connected with the button mounting plate 52, the network cable interface mounting plate 82 is mounted with the adapter flange 7 through screws, a sealing ring is mounted between the button mounting plate 52 and the adapter flange 7, and the sealing effect is achieved after the locking through the screws. In the later maintenance upgrading process, when interface position or form need change, can directly change the net twine interface 81 mounting panel can, need not carry out redesign to adaptor flange 7 to reduce the cost of later maintenance upgrading, make things convenient for the installation of multiple interface.
The compact cooperative robot wrist is provided with three functional components capable of interchanging positions at the tail end of the wrist, and the interface adopts a split design, so that the interface is convenient to install and maintain. A hollow shaft is arranged on a servo joint inside the wrist, and therefore the network cable can be conveniently installed and wired inside the wrist. The wrist is compact in internal structure, and can meet the requirement of regular arrangement of a plurality of cables in the wrist by matching with the plurality of wire binding plates and the wire pressing plates which are arranged up and down, so that the overall size of the wrist structure is reduced. By adopting the compact wrist structure design, the axial size of the whole wrist can be controlled below 190mm, and the radial size can be controlled below 90 mm. The robot dragging device is provided with the dragging button assembly, and the functions of robot dragging teaching and the like can be realized.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (9)
1. A compact collaborative robot wrist characterized by: including the wrist structure spare, the inside servo joint that is provided with of wrist structure spare, be provided with the quill shaft on the servo joint, servo joint's top is provided with terminal circuit board and line ball board, servo joint below is provided with adapter flange, adapter flange inside is provided with terminal unsteady line ball board, be provided with the rubber circle on the terminal unsteady line ball board, the rubber circle is relative with the quill shaft position, adapter flange below is provided with terminal flange, the side of terminal flange is provided with net twine interface unit, IO interface unit and drags button interface unit, the interface of three kinds of subassemblies is split type structure.
2. A compact cooperative robotic wrist according to claim 1, wherein: the wrist structural part comprises an inlet wire port, and an inlet wire binding plate is arranged in the inlet wire port.
3. The compact collaborative robot wrist of claim 1, characterized in that: the wrist structure is characterized by further comprising a rear cover support, the rear cover support comprises a step structure, a step lower layer is connected with the wrist structure, a step upper layer is connected with the rear cover, and the plurality of rear cover supports are distributed around the inside of the wrist structure.
4. A compact cooperative robotic wrist according to claim 3, wherein: the step upper layer of the rear cover support is connected with an adapter plate, and the rear cover is fixed above the adapter plate.
5. The compact collaborative robot wrist of claim 1, characterized in that: the terminal circuit board is connected with the IO interface assembly and the dragging button interface assembly through an electric communication cable.
6. The compact collaborative robot wrist of claim 4, wherein: the rear cover is provided with a light-dispersing ring, and the lamp beads are arranged at the position of the tail end circuit board close to the light-dispersing ring.
7. The compact collaborative robot wrist of claim 1, characterized in that: the network cable interface assembly comprises a network cable interface mounting plate and a network cable interface, the network cable interface is connected with the network cable interface mounting plate, and the network cable interface mounting plate is connected with the adapter flange.
8. The compact collaborative robot wrist of claim 1, characterized in that: the IO interface assembly comprises an IO interface mounting plate and an IO interface, the IO interface is connected with the IO interface mounting plate, and the IO interface mounting plate is connected with the adapter flange.
9. A compact cooperative robotic wrist according to claim 7, wherein: the dragging button assembly comprises a button mounting plate and a button, a button interface is connected with the button mounting plate, and a network cable interface mounting plate is connected with the adapter flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310166728.0A CN115847476A (en) | 2023-02-27 | 2023-02-27 | Compact cooperative robot wrist |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310166728.0A CN115847476A (en) | 2023-02-27 | 2023-02-27 | Compact cooperative robot wrist |
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| Publication Number | Publication Date |
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| CN115847476A true CN115847476A (en) | 2023-03-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310166728.0A Pending CN115847476A (en) | 2023-02-27 | 2023-02-27 | Compact cooperative robot wrist |
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Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705561A (en) * | 2018-07-24 | 2018-10-26 | 埃夫特智能装备股份有限公司 | A kind of four-degree-of-freedom underloading industrial robot |
| CN110253632A (en) * | 2019-07-23 | 2019-09-20 | 重庆卓来科技有限责任公司 | A kind of robot end's flange and assembly |
| CN111347456A (en) * | 2018-12-24 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Seven-axis cooperative robot |
| CN111452084A (en) * | 2020-05-18 | 2020-07-28 | 成都卡诺普自动化控制技术有限公司 | Modularized joint of cooperative robot |
| US20200282553A1 (en) * | 2019-03-07 | 2020-09-10 | Abb Schweiz Ag | Robotic Arm Including Edge Computer and Cabling Arrangement Facilitating Flexible Function Advanced Distal Arm End Tooling |
| CN112518719A (en) * | 2020-12-01 | 2021-03-19 | 伯朗特机器人股份有限公司 | Four-axis robot convenient to maintain |
| CN112936346A (en) * | 2021-02-08 | 2021-06-11 | 中科新松有限公司 | Terminal IO board of arm |
| CN113910201A (en) * | 2021-10-20 | 2022-01-11 | 珞石（北京）科技有限公司 | Compact base of cooperative mechanical arm without external control cabinet |
| CN113910288A (en) * | 2021-10-20 | 2022-01-11 | 珞石（北京）科技有限公司 | Compact cooperative mechanical arm wrist integrating dragging enabling handle |
| CN215881662U (en) * | 2021-09-06 | 2022-02-22 | 苏州艾利特机器人有限公司 | Robot integrated with camera module |
| CN115674259A (en) * | 2022-10-08 | 2023-02-03 | 深圳市越疆科技有限公司 | Mechanical arm and joint module thereof |
-
2023
- 2023-02-27 CN CN202310166728.0A patent/CN115847476A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705561A (en) * | 2018-07-24 | 2018-10-26 | 埃夫特智能装备股份有限公司 | A kind of four-degree-of-freedom underloading industrial robot |
| CN111347456A (en) * | 2018-12-24 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Seven-axis cooperative robot |
| US20200282553A1 (en) * | 2019-03-07 | 2020-09-10 | Abb Schweiz Ag | Robotic Arm Including Edge Computer and Cabling Arrangement Facilitating Flexible Function Advanced Distal Arm End Tooling |
| CN110253632A (en) * | 2019-07-23 | 2019-09-20 | 重庆卓来科技有限责任公司 | A kind of robot end's flange and assembly |
| CN111452084A (en) * | 2020-05-18 | 2020-07-28 | 成都卡诺普自动化控制技术有限公司 | Modularized joint of cooperative robot |
| CN112518719A (en) * | 2020-12-01 | 2021-03-19 | 伯朗特机器人股份有限公司 | Four-axis robot convenient to maintain |
| CN112936346A (en) * | 2021-02-08 | 2021-06-11 | 中科新松有限公司 | Terminal IO board of arm |
| CN215881662U (en) * | 2021-09-06 | 2022-02-22 | 苏州艾利特机器人有限公司 | Robot integrated with camera module |
| CN113910201A (en) * | 2021-10-20 | 2022-01-11 | 珞石（北京）科技有限公司 | Compact base of cooperative mechanical arm without external control cabinet |
| CN113910288A (en) * | 2021-10-20 | 2022-01-11 | 珞石（北京）科技有限公司 | Compact cooperative mechanical arm wrist integrating dragging enabling handle |
| CN115674259A (en) * | 2022-10-08 | 2023-02-03 | 深圳市越疆科技有限公司 | Mechanical arm and joint module thereof |
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Application publication date: 20230328 |
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